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[wpilib, hal] High Level REV PH changes (#3792)

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More functionality was implemented at the HAL level, so expose that to the wpilib level.

This also does units changes for all the PH related functionality.
This commit is contained in:
Thad House
2021-12-19 13:41:35 -08:00
committed by GitHub
parent 59a7528fd6
commit 34b2d0dae1
23 changed files with 770 additions and 143 deletions
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2
wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
View File

@@ -143,7 +143,7 @@ TEST(CTREPCMSimTest, SetCompressorCurrent) {
sim.SetCompressorCurrent(35.04);
EXPECT_EQ(35.04, sim.GetCompressorCurrent());
EXPECT_EQ(35.04, pcm.GetCompressorCurrent());
EXPECT_EQ(35.04_A, pcm.GetCompressorCurrent());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(35.04, callback.GetLastValue());
}

6
wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
View File

@@ -129,7 +129,7 @@ TEST(REVPHSimTest, SetEnableAnalog) {
ph.DisableCompressor();
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Disabled);
ph.EnableCompressorAnalog(1, 2);
ph.EnableCompressorAnalog(1_V, 2_V);
EXPECT_EQ(sim.GetCompressorConfigType(),
static_cast<int>(CompressorConfigType::Analog));
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Analog);
@@ -150,7 +150,7 @@ TEST(REVPHSimTest, SetEnableHybrid) {
ph.DisableCompressor();
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Disabled);
ph.EnableCompressorHybrid(1, 2);
ph.EnableCompressorHybrid(1_V, 2_V);
EXPECT_EQ(sim.GetCompressorConfigType(),
static_cast<int>(CompressorConfigType::Hybrid));
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Hybrid);
@@ -187,7 +187,7 @@ TEST(REVPHSimTest, SetCompressorCurrent) {
sim.SetCompressorCurrent(35.04);
EXPECT_EQ(35.04, sim.GetCompressorCurrent());
EXPECT_EQ(35.04, ph.GetCompressorCurrent());
EXPECT_EQ(35.04_A, ph.GetCompressorCurrent());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(35.04, callback.GetLastValue());
}